The suitability of the reference map used in scene matching based navigation of an unmanned vehicle is very important in the selection of the reference map. Due to the sensitivity of scene imaging, only some special zones of the unmanned vehicle's planned area are suitable for scene matching based navigation. In the paper, first, the basic idea of scene matching based navigation is described. Secondly correct matching probability at each position is defined and estimated from statistical parameters of the sensed image size window image. In order to decrease the computational cost of parameter calculation, their fast algorithms are presented. Then a description of navigation suitability of the reference map, called suitability probability, is proposed. Experimental results on satellite images demonstrated the feasibility of our approach.
Suitability of scene matching for unmanned vehicle navigation
1998
9 Seiten, 2 Quellen
Conference paper
English
Matching suitability analysis of reference map for scene-matching-based navigation [3545-16]
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